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   <div id="projectname">Calico
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   <div id="projectbrief">A visual-inertial calibration library designed for rapid problem construction and debugging.</div>
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<li class="navelem"><a class="el" href="dir_e7ac338090e46d594d3ea7a0e9efc7ba.html">calico</a></li><li class="navelem"><a class="el" href="dir_65d747a460e6d1ffaba160a154370ebb.html">third_party</a></li><li class="navelem"><a class="el" href="dir_3db016810d58e96ba2daf796df211604.html">apriltags</a></li><li class="navelem"><a class="el" href="dir_4a25d34b206d743290bd9e525b1db332.html">apriltags</a></li>  </ul>
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<div class="title">Gridder.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef GRIDDER_H</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define GRIDDER_H</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;algorithm&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;iterator&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;apriltags/Segment.h&quot;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceAprilTags.html">AprilTags</a> {</div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div>
<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="classAprilTags_1_1Gridder.html">   14</a></span>&#160;<span class="keyword">class </span><a class="code" href="classAprilTags_1_1Gridder.html">Gridder</a> {</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  <span class="keyword">private</span>:</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    <a class="code" href="classAprilTags_1_1Gridder.html">Gridder</a>(<span class="keyword">const</span> <a class="code" href="classAprilTags_1_1Gridder.html">Gridder</a>&amp;); </div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    <a class="code" href="classAprilTags_1_1Gridder.html">Gridder</a>&amp; operator=(<span class="keyword">const</span> <a class="code" href="classAprilTags_1_1Gridder.html">Gridder</a>&amp;); </div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    </div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <span class="keyword">struct </span>Cell {</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    T* object;</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    Cell *next;</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160; </div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    Cell() : object(NULL), next(NULL) {}</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160; </div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    Cell(<span class="keyword">const</span> Cell&amp; c) : object(c.object), next(c.next) {}</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160; </div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    <span class="comment">// Destructor</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    ~Cell() {</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;      <span class="keyword">delete</span> next;</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    }</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160; </div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    Cell&amp; operator=(<span class="keyword">const</span> Cell &amp;other) {</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;      <span class="keywordflow">if</span> (<span class="keyword">this</span> == &amp;other)</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160; </div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;      <span class="keywordtype">object</span> = other.object;</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;      next = other.next;</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;      <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    }</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  };</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <span class="keywordtype">void</span> gridderInit(<span class="keywordtype">float</span> x0Arg, <span class="keywordtype">float</span> y0Arg, <span class="keywordtype">float</span> x1Arg, <span class="keywordtype">float</span> y1Arg, <span class="keywordtype">float</span> ppCell) {</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    width = (int) ((x1Arg - x0Arg)/ppCell + 1);</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    height = (int) ((y1Arg - y0Arg)/ppCell + 1);</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    x1 = x0Arg + ppCell*width;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    y1 = y0Arg + ppCell*height;</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    cells = std::vector&lt; std::vector&lt;Cell*&gt; &gt;(height, std::vector&lt;Cell*&gt;(width,(Cell*)NULL));</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  }</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keywordtype">float</span> x0,y0,x1,y1;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keywordtype">int</span> width, height;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keywordtype">float</span> pixelsPerCell; <span class="comment">//pixels per cell</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  std::vector&lt; std::vector&lt;Cell*&gt; &gt; cells;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <a class="code" href="classAprilTags_1_1Gridder.html">Gridder</a>(<span class="keywordtype">float</span> x0Arg, <span class="keywordtype">float</span> y0Arg, <span class="keywordtype">float</span> x1Arg, <span class="keywordtype">float</span> y1Arg, <span class="keywordtype">float</span> ppCell)</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    : x0(x0Arg), y0(y0Arg), x1(), y1(), width(), height(), pixelsPerCell(ppCell),</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      cells() { gridderInit(x0Arg, y0Arg, x1Arg, y1Arg, ppCell); }</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="comment">// Destructor</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  ~<a class="code" href="classAprilTags_1_1Gridder.html">Gridder</a>() {</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i &lt; cells.size(); i++) {</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = 0; j &lt; cells[i].size(); j++)</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keyword">delete</span> cells[i][j];</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    }</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  }</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="keywordtype">void</span> add(<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, T* <span class="keywordtype">object</span>) {</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keywordtype">int</span> ix = (int) ((x - x0)/pixelsPerCell);</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keywordtype">int</span> iy = (int) ((y - y0)/pixelsPerCell);</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keywordflow">if</span> (ix&gt;=0 &amp;&amp; iy&gt;=0 &amp;&amp; ix&lt;width &amp;&amp; iy&lt;height) {</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      Cell *c = <span class="keyword">new</span> Cell;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      c-&gt;object = object;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      c-&gt;next = cells[iy][ix];</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      cells[iy][ix] = c;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="comment">// cout &lt;&lt; &quot;Gridder placed seg &quot; &lt;&lt; o-&gt;getId() &lt;&lt; &quot; at (&quot; &lt;&lt; ix &lt;&lt; &quot;,&quot; &lt;&lt; iy &lt;&lt; &quot;)&quot; &lt;&lt; endl;</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    }</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  }</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="comment">// iterator begin();</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <span class="comment">// iterator end();</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classAprilTags_1_1Gridder_1_1Iterator.html">   87</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classAprilTags_1_1Gridder_1_1Iterator.html">Iterator</a> {</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <a class="code" href="classAprilTags_1_1Gridder_1_1Iterator.html">Iterator</a>(<a class="code" href="classAprilTags_1_1Gridder.html">Gridder</a>* grid, <span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> range)</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      : outer(grid), ix0(), ix1(), iy0(), iy1(), ix(), iy(), c(NULL) { iteratorInit(x,y,range); }</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <a class="code" href="classAprilTags_1_1Gridder_1_1Iterator.html">Iterator</a>(<span class="keyword">const</span> <a class="code" href="classAprilTags_1_1Gridder_1_1Iterator.html">Iterator</a>&amp; it)</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      : outer(it.outer), ix0(it.ix0), ix1(it.ix1), iy0(it.iy0), iy1(it.iy1), ix(it.ix), iy(it.iy), c(it.c) {}</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <a class="code" href="classAprilTags_1_1Gridder_1_1Iterator.html">Iterator</a>&amp; operator=(<span class="keyword">const</span> <a class="code" href="classAprilTags_1_1Gridder_1_1Iterator.html">Iterator</a>&amp; it) {</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;          outer = it.outer;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;          ix0 = it.ix0;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;          ix1 = it.ix1;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;          iy0 = it.iy0;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;          iy1 = it.iy1;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;          ix = it.ix;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;          iy = it.iy;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;          c = it.c;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      }</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <span class="keywordtype">bool</span> hasNext() {</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      <span class="keywordflow">if</span> (c == NULL)</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    findNext();</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <span class="keywordflow">return</span> (c != NULL);</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    }</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    T&amp; next() {</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      T* thisObj = c-&gt;object;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      findNext();</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <span class="keywordflow">return</span> *thisObj; <span class="comment">// return Segment</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    }</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  <span class="keyword">private</span>:</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <span class="keywordtype">void</span> findNext() {</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      <span class="keywordflow">if</span> (c != NULL)</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    c = c-&gt;next;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <span class="keywordflow">if</span> (c != NULL)</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      ix++;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      <span class="keywordflow">while</span> (<span class="keyword">true</span>) {</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keywordflow">if</span> (ix &gt; ix1) {</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      iy++;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      ix = ix0;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    }</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <span class="keywordflow">if</span> (iy &gt; iy1)</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        c = outer-&gt;cells[iy][ix];</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;       </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="keywordflow">if</span> (c != NULL)</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    ix++;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      }</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    }</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <span class="keywordtype">void</span> iteratorInit(<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> range) {</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      ix0 = (int) ((x - range - outer-&gt;x0)/outer-&gt;pixelsPerCell);</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      iy0 = (int) ((y - range - outer-&gt;y0)/outer-&gt;pixelsPerCell);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      ix1 = (int) ((x + range - outer-&gt;x0)/outer-&gt;pixelsPerCell);</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      iy1 = (int) ((y + range - outer-&gt;y0)/outer-&gt;pixelsPerCell);</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      ix0 = std::max(0, ix0);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      ix0 = std::min(outer-&gt;width-1, ix0);</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      ix1 = std::max(0, ix1);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      ix1 = std::min(outer-&gt;width-1, ix1);</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      iy0 = std::max(0, iy0);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      iy0 = std::min(outer-&gt;height-1, iy0);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      iy1 = std::max(0, iy1);</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      iy1 = std::min(outer-&gt;height-1, iy1);</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      ix = ix0;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      iy = iy0;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      c = outer-&gt;cells[iy][ix];</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    }</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    <a class="code" href="classAprilTags_1_1Gridder.html">Gridder</a>* outer;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    <span class="keywordtype">int</span> ix0, ix1, iy0, iy1;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    <span class="keywordtype">int</span> ix, iy;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    Cell *c;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  };</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classAprilTags_1_1Gridder_1_1Iterator.html">Iterator</a> <a class="code" href="classAprilTags_1_1Gridder_1_1Iterator.html">iterator</a>;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  <a class="code" href="classAprilTags_1_1Gridder_1_1Iterator.html">iterator</a> find(<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> range) { <span class="keywordflow">return</span> <a class="code" href="classAprilTags_1_1Gridder_1_1Iterator.html">Iterator</a>(<span class="keyword">this</span>,x,y,range); }</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;};</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;} <span class="comment">// namespace</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclassAprilTags_1_1Gridder_1_1Iterator_html"><div class="ttname"><a href="classAprilTags_1_1Gridder_1_1Iterator.html">AprilTags::Gridder::Iterator</a></div><div class="ttdoc">Iterator for Segment class.</div><div class="ttdef"><b>Definition:</b> Gridder.h:87</div></div>
<div class="ttc" id="aclassAprilTags_1_1Gridder_html"><div class="ttname"><a href="classAprilTags_1_1Gridder.html">AprilTags::Gridder</a></div><div class="ttdoc">A lookup table in 2D for implementing nearest neighbor.</div><div class="ttdef"><b>Definition:</b> Gridder.h:14</div></div>
<div class="ttc" id="anamespaceAprilTags_html"><div class="ttname"><a href="namespaceAprilTags.html">AprilTags</a></div><div class="ttdef"><b>Definition:</b> Edge.h:8</div></div>
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